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As @gvdhoorn already mentioned, if you really want the speed, this is computed by multiplying the size of your data (in this case, images), by the rate, and adding some overhead.

That said, your case sounds as if there is a different issue. First of all, the computers are most likely both on your local network, so your Internet speed is not relevant.

Secondly, a consistent delay of a few seconds is normally caused by compression. Therefore, try pointing rqt_image_view at your "/camera/image_raw" topic and see what happens.